Festo EMCA-EC-67 CO Series, Description

Page: 348 / 416

D CANopen communication
348 Festo – EMCA-EC-C-HP-EN – 2017-11e – English
For the NMT status of the EMCA (NMT participant), statuses are established in the finite state machine.
Changes in statuses can be triggered via the data byte “command specifier (CS))” in the NMT message.
These are required to achieve the desired target status.
Stopped
(Node guarding: 04
h
)
Initialisation
Pre-operational
(Node guarding: 7F
h
)
Operational
(Node guarding: 05
h
)
Reset application
1)
Reset communication 1)
Initialising
Power ON
4
Enter pre-operational
(CS: 80
h
)
5
Stop remote node
(CS: 02
h
)
6
Start remote node
(CS: 01
h
)
7
Enter pre-operational
(CS: 80
h
)
8
Stop remote node
(CS: 02
h
)
9
Reset node
(CS: 81
h
)
aD
Reset communication
(CS: 82
h
)
3
Start remote node
(CS: 01
h
)
aJ
Reset node
(CS: 81
h
)
aA
Reset node
(CS: 81
h
)
aF
aC
Reset communication
(CS: 82
h
)
aB
Reset communication
(CS: 82
h
)
aE
2
Initialisation finished
1
1) The final target status is pre-operational (7Fh), since the transitions 15, 16 and 2 are automatically performed by the EMCA.
Fig. D.10 Diagram: NMT finite state machine